Diff: CAN/function_CAN.cpp

Revision:

47:fdcb8bd86fd6

Parent:

46:2694daea349b

Child:

48:889798ff9329

--- a/CAN/function_CAN.cpp	Mon Jan 20 08:05:21 2020 +0000
+++ b/CAN/function_CAN.cpp	Tue Jan 21 13:39:27 2020 +0000
@@ -727,8 +727,12 @@
         vel.ref = (double)temp_vel * 100.0f;
         torq.ref = (double)temp_torq * 0.1f;
     } else if(address==CID_RX_REF_PWM) {
-        int16_t temp_vout = (int16_t) (msg.data[0] | msg.data[1] << 8);
-        Vout.ref = (double)temp_vout;
+        int16_t temp_ref_valve_pos = (int16_t) (msg.data[0] | msg.data[1] << 8);
+        if(temp_ref_valve_pos >= 0){
+            valve_pos.ref = (double)DDV_CENTER + (double)temp_ref_valve_pos * ((double)VALVE_MAX_POS-(double)DDV_CENTER)/10000.0f  ;
+        }else{
+            valve_pos.ref = (double)DDV_CENTER - (double)temp_ref_valve_pos * ((double)VALVE_MIN_POS-(double)DDV_CENTER)/10000.0f;
+        }
     }   
 }